CA2485699A1 - Methods and apparatus for determining an interferometric angle to a target in body coordinates - Google Patents

Methods and apparatus for determining an interferometric angle to a target in body coordinates Download PDF

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Publication number
CA2485699A1
CA2485699A1 CA002485699A CA2485699A CA2485699A1 CA 2485699 A1 CA2485699 A1 CA 2485699A1 CA 002485699 A CA002485699 A CA 002485699A CA 2485699 A CA2485699 A CA 2485699A CA 2485699 A1 CA2485699 A1 CA 2485699A1
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theta
radar
phase
channel
feet
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French (fr)
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CA2485699C (en
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James R. Hager
Todd R. Burlet
Lavell Jordan
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Honeywell International Inc
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/52—Discriminating between fixed and moving objects or between objects moving at different speeds
    • G01S13/522—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves
    • G01S13/524—Discriminating between fixed and moving objects or between objects moving at different speeds using transmissions of interrupted pulse modulated waves based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/18—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein range gates are used
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/20—Systems for measuring distance only using transmission of interrupted, pulse modulated waves whereby multiple time-around echoes are used or eliminated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G01S13/10—Systems for measuring distance only using transmission of interrupted, pulse modulated waves
    • G01S13/26—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
    • G01S13/28—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses
    • G01S13/284—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses using coded pulses
    • G01S13/288—Systems for measuring distance only using transmission of interrupted, pulse modulated waves wherein the transmitted pulses use a frequency- or phase-modulated carrier wave with time compression of received pulses using coded pulses phase modulated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/66—Radar-tracking systems; Analogous systems
    • G01S13/70—Radar-tracking systems; Analogous systems for range tracking only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/882—Radar or analogous systems specially adapted for specific applications for altimeters
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
    • G01S13/935—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft for terrain-avoidance
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/02—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using radio waves
    • G01S3/14—Systems for determining direction or deviation from predetermined direction
    • G01S3/46—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems
    • G01S3/48—Systems for determining direction or deviation from predetermined direction using antennas spaced apart and measuring phase or time difference between signals therefrom, i.e. path-difference systems the waves arriving at the antennas being continuous or intermittent and the phase difference of signals derived therefrom being measured

Abstract

A method for processing radar return data to determine a physical angle, in aircraft body coordinates to a target, is disclosed. The radar return data inludes a phase difference between radar return data received at an ambiguou s radar channel (226) and a left radar channel (224), a phase difference betwe en radar return data received at a right radar channel (228) and an ambiguous radar channel (226), and a phase defference between radar return data receiv ed at a rigth radar channel (228) and a left radar channel (224). The method includes adjusting a phase bias (570, 572, 574) for the three phase differences, resolving phase ambiguities (576) between the three Phase differences to provide a signal, and filtering the signal (578) to provide a physical angle to the target in aircraft body coodinates.

Claims (15)

1. A method for processing radar return data to determine a physical angle, in aircraft body coordinates to a target, the radar return data including a phase difference between radar return data received at an ambiguous radar channel (226) and a left radar channel (224), a phase difference between radar return data received at a right radar channel (226) and an ambiguous radar channel (226), and a phase difference between radar return data received at a right radar channel (226) and a left radar channel (224), said method comprising:
adjusting a phase bias (570, 572, 574) for the three phase differences;
resolving phase ambiguities (576) between the three phase differences to provide a signal; and filtering the signal (578) to provide a physical angle to the target in aircraft body coordinates.
2. A method according to Claim 1 wherein resolving phase ambiguities (576) comprises:
determining a plurality of physical angle solutions for each received phase difference; and determining an unambiguous physical angle based upon physical angle solutions which are approximately equal from each received phase difference.
3. A method according to Claim 2 wherein determining a plurality of physical angle solutions for each received phase difference comprises:
determining physical angle solutions according to .PHI.=sin-1(.theta.1/K1), where .theta.1, is determined as .theta.1=.theta.LA, .theta.1=(.theta.LA-360), and .theta.1=(.theta.LA+360), K1 is [(360×S LA)/.lambda.], where S LA is a separation between a left antenna element (202) and an ambiguous antenna element (214) in feet, .lambda. is a wavelength of the radar signal in feet, and .theta.LA is a received electrical phase angle difference between a left radar channel (224) and an ambiguous radar channel (226);
determining physical angle solutions according to .PHI.=sin-1(.theta.1/K2), where .theta.1, is determined as .theta.1=.theta.AR, .theta.1=(.theta.AR-720), .theta.1=(.theta.AR-360), .theta.1=(.theta.AR+360), and .theta.1=(.theta.AR+720), K2 is [(360×S AR)/.lambda.], where S AR is a separation between an ambiguous antenna element (214) and a right antenna element (208) in feet, .lambda., is a wavelength of the radar signal in feet, and .theta.AR is a received electrical phase angle difference between an ambiguous radar channel (226) and a right radar channel (228); and determining physical angle solutions according to .PHI.=sin-1(.theta.1/K3), where .theta.1, is determined as .theta.1=.theta.LR, .theta.1=(.theta.LR-1080), .theta.1=(.theta.LR-720), .theta.1=(.theta.LR-360), .theta.1=(.theta.LR+360), .theta.1=(.theta.LR+720), and .theta.1=(.theta.LR+1080), K3 is [(360×SLR)/.lambda.], where S LR is a separation between a left antenna element (202) and a right antenna element (208) in feet, .lambda., is a wavelength of the radar signal in feet, and .theta.LR is a received electrical phase angle difference between a left radar channel (224) and a right radar channel (228).
4. A method according to Claim 3 wherein SLA is about 0.2917 feet, S AR is about 0.7083 feet, S LR is about one foot, and .lambda., is about 0 ,2291 feet.
5. A processor (233) configured to:
resolve phase ambiguities between multiple received phase difference signals; and determine a physical angle in aircraft body coordinates to a target based upon the resolved phase ambiguities, the phase difference signals having been determined based upon radar return data received at each of an ambiguous radar channel (226), a left radar channel (224), and a right radar channel (228).
6. A processor (233) according to Claim 5 wherein to resolve phase ambiguities, said processor is configured to determine a plurality of physical angle solutions for each received phase difference.
7. A processor (233) according to Claim 6 wherein to determine a physical angle in aircraft body coordinates to a target said processor is configured to determine which physical angle solutions provide an unambiguous physical angle to the target.
8. A processor (233) according to Claim 7 wherein the unambiguous physical angle is an angle which is a solution for at least one of the phase angle solutions for each received phase difference.
9. A processor (233) according to Claim 6 wherein said processor is configured to determine the plurality of phase angle solutions according to:
.PHI.=sin-1(.theta.1/K1), where .theta.1, is determined as .theta.1=.theta.LA, .theta.1=(.theta.LA-360), and .theta.1=(.theta.LA+360), K1 is [(360×S LA)/.lambda.], where S LA is a separation between a left antenna element (202) and an ambiguous antenna element (214) in feet, .lambda., is a wavelength of the radar signal in feet, and .theta.LA is a received electrical phase angle difference between a left radar channel (224) and an ambiguous radar channel (226);
.PHI.=sin-1(.theta.1/K2), where .theta.1, is determined as .theta.1=.theta.AR, .theta.1=(.theta.AR-720), .theta.1=(.theta.AR-360), .theta.1=(.theta.AR+360), and .theta.1=(.theta.AR+720), K2 is [(360×S AR)/.lambda.], where S AR is a separation between an ambiguous antenna element (214) and a right antenna element (208) in feet, .lambda. is a wavelength of the radar signal in feet, and .theta.AR is a received electrical phase angle difference between an ambiguous radar channel (226) and a right radar channel (228); and .PHI.=sin-1(.theta.1/K3), where .theta.1, is determined as .theta.1=.theta.LR, .theta.1=(.theta.LR-1080), .theta.1=(.theta.LR-720), .theta.1=(.theta.LR-360), .theta.1=(.theta.LR+360), .theta.1=(.theta.LR+720), and .theta.1=(.theta.LR+1080), K3 is [(360×S LR)/.lambda.], where S LR is a separation between a left antenna element (202) and a right antenna element (208) in feet, ~, is a wavelength of the radar signal in feet, and .theta.LR is a received electrical phase angle difference between a left radar channel (224) and a right radar channel (228).
10. A radar signal processing circuit (200) comprising:

a radar gate correlation circuit (302) configured to sample radar return data from left, right, and ambiguous radar channels at a sampling rate;
a correlation bass pass filter (304) configured to stretch the sampled radar return data to a continuous wave (CW) signal;
a mixer (306) configured to down sample an in-phase component and a quadrature component of the CW signal to a doppler frequency;
a band pass filter (308) centered on the doppler frequency;
a phase processor (230) configured to receive processed radar return data from said band pass filter, said phase processor further configured to determine a phase difference between radar return data from an ambiguous channel (226) and a left channel (224), a phase difference between radar return data from an right channel (228) and the ambiguous channel (226), and a phase difference between radar return data from the right channel (228) and the left channel (224); and a processing unit (232) configured to receive the three phase differences, adjust a phase bias (570, 572, 574) for the three phase differences, resolve phase ambiguities (576) between the three phase differences to provide a signal, and filtering the signal (578) to provide a physical angle to a target in aircraft body coordinates.
11. A radar signal processing circuit (200) according to Claim 10 wherein said processing unit (232) is configured to resolve phase ambiguities by determining a plurality of physical angle solutions for each received phase difference.
12. A radar signal processing circuit (200) according to Claim 11 wherein to provide a physical angle in aircraft body coordinates to a target said processing unit is configured to determine which physical angle solutions provide an unambiguous physical angle to the target.
13. A radar signal processing circuit (200) according to Claim 12 wherein said processing unit (232) configured to determine an unambiguous physical angle which is an angle that provides a solution for at least one of the phase angle solutions for each received phase difference.
14. A radar signal processing circuit (200) according to Claim 11 wherein said processing unit (232) is configured to determine a plurality of physical angle solutions for each received phase difference according to .PHI.=sin-1(.theta.1/K1), where .theta.1, is determined as .theta.1=.theta.LA, .theta.1=(.theta.LA-360), and .theta.1=(.theta.LA+360), K1 is [(360×S LA)/.lambda.], where S LA is a separation between a left antenna element (202) and an ambiguous antenna element (214) in feet, .lambda., is a wavelength of the radar signal in feet, and .theta.LA is a received electrical phase angle difference between a left radar channel (224) and an ambiguous radar channel (226);
.PHI.=sin-1(.theta.1/K2), where 61, is determined as .theta.1=.theta.AR, .theta.1=(.theta.AR-720), .theta.1=(.theta.AR-360), .theta.1=(.theta.AR+360), and .theta.1=(.theta.AR+720), K2 is [(360×S AR)/.lambda.], where S AR is a separation between an ambiguous antenna element (214) and a right antenna element (208) in feet, .lambda. is a wavelength of the radar signal in feet, and .theta.AR is a received electrical phase angle difference between an ambiguous radar channel (226) and a right radar channel (228); and .PHI.=sin-1(.theta.1/K3), where .theta.1, is determined as .theta.1=.theta.LR, .theta.1=(.theta.LR-1080), .theta.1=(.theta.LR-720), .theta.1=(.theta.LR-360), .theta.1=(.theta.LR+360), .theta.1=(.theta.LR+720), and .theta.1=(.theta.LR+1080), K3 is [(360×S LR)/.lambda.], where S LR is a separation between a left antenna element (202) and a right antenna element (208) in feet, .lambda. is a wavelength of the radar signal in feet, and .theta.LR is a received electrical phase angle difference between a left radar channel (224) and a right radar channel (228).
15. A radar signal processing circuit (200) according to Claim 14 wherein said processing unit (232) is configured an SLA of about 0.2917 feet, an S AR
of about 0.7083 feet, an S LR of about one foot, and .lambda. of about 0.2291 feet.
CA2485699A 2002-05-13 2003-05-13 Methods and apparatus for determining an interferometric angle to a target in body coordinates Expired - Fee Related CA2485699C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US10/144,873 US6856279B2 (en) 2002-05-13 2002-05-13 Methods and apparatus for determining an interferometric angle to a target in body coordinates
US10/144,873 2002-05-13
PCT/US2003/015933 WO2003096060A1 (en) 2002-05-13 2003-05-13 Determining an angle to a target using interferometry

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CA2485699A1 true CA2485699A1 (en) 2003-11-20
CA2485699C CA2485699C (en) 2012-02-21

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US (1) US6856279B2 (en)
EP (1) EP1504281B1 (en)
JP (2) JP5204367B2 (en)
AU (1) AU2003241539A1 (en)
CA (1) CA2485699C (en)
WO (1) WO2003096060A1 (en)

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JP5204367B2 (en) 2013-06-05
WO2003096060A1 (en) 2003-11-20
US6856279B2 (en) 2005-02-15
AU2003241539A1 (en) 2003-11-11
US20030210177A1 (en) 2003-11-13
EP1504281B1 (en) 2016-10-05
CA2485699C (en) 2012-02-21
JP2011149962A (en) 2011-08-04
JP2005525559A (en) 2005-08-25

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